development of visual servoing capability in progress
modifications to approach and utilClasses
downwards visual servoing and old system pipe integration mod implemented
minor commit
Merge branch 'vehicle_refactor_2014' of https://github.com/erudnick-cohen/tortuga into vehicle_refactor_2014
fix to bootstrap
forwards visual servoing(be aware that you may need to go from 1/range to range if you want to test in the simulator)
Merge branch 'vehicle_refactor_2014' of https://github.com/erudnick-cohen/tortuga into vehicle_refactor_2014
changes for eliot to test
Merge remote-tracking branch 'mxlan/vehicle_refactor_2014' into vehicle_refactor_2014

also fixed idiotic mistake involving infinity

Conflicts:
	packages/python/ram/ai/new/testing.py
added detector on/off to gate
Merge branch 'vehicle_refactor_2014' of https://github.com/robotics-at-maryland/tortuga into vehicle_refactor_2014
minor pushes so we can test gate
Merge branch 'vehicle_refactor_2014' of https://github.com/erudnick-cohen/tortuga into vehicle_refactor_2014
Merge branch 'vehicle_refactor_2014' of https://github.com/schristian/tortuga into vehicle_refactor_2014
stupid error that was dumb to fix, always call super damn it!
Gate finished, minor errors involving not calling super in enter and leave fixed
Removed "hi there" from ControllerBase.h
Removed print statements from state.py